Gazebo/Blue Gazebo/Gray Gazebo/Gray Gazebo/Gray 50 base_left_wheel_joint base_right_wheel_joint ${wheel_length + base_width} ${wheel_radius} cmd_vel true true true odom odom base_footprint Gazebo/Orange Gazebo/Yellow Gazebo/Orange 10 arm_base_forearm_joint forearm_hand_joint 2